Autonomous parking lot system
By building a high-precision positioning system and wireless communication technology in the parking lot, the positioning and communication problems in the parking lot are solved, and high-precision independent parking is achieved, which reduces costs and simplifies the promotion process.
Patent Information
- Application Number
- CN201811500519.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2018-12-10
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2038-12-10
AI Technical Summary
In parking lots, the existing global positioning navigation system cannot work effectively, and the terrain is complex and there are many obstacles, making it difficult for autonomous parking technology to achieve high-precision positioning and stable communication, increasing vehicle costs and making it difficult to popularize.
Build a high-precision positioning system in the parking lot, and transmit the data information required by the vehicle to the control device on the vehicle through wireless communication. Use the roof box and communication box to perform data processing and vehicle control, reduce costs, and achieve independent parking car.
It realizes high-precision positioning and stable communication, reduces vehicle collision risks, reduces modification costs, and simplifies the promotion and popularization process.
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to the field of wireless communications, and in particular to an autonomous parking system and a method for controlling autonomous parking of vehicles in a parking lot. Background Art
[0002] With the increasing popularity of vehicles and the continuous improvement of science and technology, autonomous driving technology has become a new trend in the research of many scientific research institutes and technology companies. However, due to the inconsistent standards of many vehicles, imperfect infrastructure, incomplete relevant legal systems, and the inability to fully guarantee safety and stability, there is still a long way to go to promote autonomous driving technology on driving roads. However, the implementation of autonomous driving technology in slow driving areas such as parking lots to achieve autonomous parking not only has fewer safety risks, but also solves the problem of many drivers having difficulty finding parking spaces and parking. Based on this, domestic and foreign companies have launched a fierce competition in the field of smart parking lots and autonomous parking. However, there are also many problems in the research and promotion of smart parking lots and autonomous parking.
[0003] First of all, parking lots are mostly located underground or indoors, and existing global positioning navigation systems such as GPS and Beidou cannot play a role in them. In addition, the terrain in parking lots is relatively complex and there are many obstacles. Extremely accurate real-time location information is required during the parking process to achieve control of the vehicle.
[0004] Secondly, if you want to achieve autonomous parking, you need to install a communication module with the parking lot in the vehicle to receive parking lot maps, target parking spaces, environmental information, etc. In addition, you also need a computing module to realize autonomous parking route planning, and a control component to control the vehicle to drive along the planned parking route. If the above modules and components are to be installed in advance in all vehicles that may be parked in the parking lot, the cost of the vehicle will increase and it will be difficult to popularize.
[0005] In order to reduce vehicle costs, those skilled in the art have come up with the idea of integrating the more expensive communication module and computing module into a peripheral component, and temporarily allocating the peripheral component when the vehicle enters the autonomous parking lot to achieve autonomous parking. However, the above technical solution still has problems with how the peripheral component communicates with the vehicle and how to control the vehicle to achieve autonomous parking.
[0006] Therefore, how to provide an autonomous parking lot that can achieve high-precision positioning, stable communication, low cost, and suitable for promotion has become a technical problem that needs to be urgently solved in this field. Summary of the invention
[0007] According to one aspect of the present invention, an autonomous parking lot system is disclosed, comprising: a field-end device and an autonomous parking control device, wherein the field-end device is installed in the parking lot and transmits data information required for vehicles to perform autonomous parking; the autonomous parking control device is installed on the vehicle and receives the data information from the field-end device via wireless communication, and generates a vehicle execution instruction based on the data information to control the vehicle to perform corresponding functions to achieve autonomous parking of the vehicle.
[0008] According to another aspect of the present invention, a method for controlling autonomous parking of vehicles in a parking lot is disclosed, comprising: utilizing a field end located in the parking lot to transmit data information required for the vehicle to perform autonomous parking; and utilizing an autonomous parking control device located at the vehicle end to receive the data information from the field end device via wireless communication, and generating a vehicle execution instruction based on the data information to control the vehicle to perform corresponding functions to achieve autonomous parking of the vehicle.
[0009] According to another aspect of the present invention, a computer program is disclosed, the computer program comprising program code for executing according to the above method when the program is executed in a computer.
[0010] The present invention can accurately and timely obtain vehicle location information by building a high-precision positioning system in the parking lot, and then accurately adjust the vehicle's running trajectory to reduce the risk of vehicle collision. Secondly, in the present invention, a high-cost roof box with a high-speed computing unit is placed outside the vehicle, that is, the roof box is temporarily placed on the vehicle when the vehicle enters the parking lot for autonomous parking, so that the roof box belongs to the parking lot and is recycled, and a low-cost communication box is installed inside the vehicle, which can reduce the cost of modification and is easy to promote and popularize. In addition, through the reliable and stable communication connection between the roof box and the communication box, the vehicle can be accurately controlled to achieve automatic parking. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 A schematic diagram of an autonomous parking system 100 according to an embodiment of the present invention is provided;
[0012] Figure 2 A schematic diagram of the installation of an autonomous parking control device according to an embodiment of the present invention is provided;
[0013] Figure 3 A schematic diagram of the installation of an autonomous parking control device according to another embodiment of the present invention is provided;
[0014] Figure 4 A flow chart of a method for controlling autonomous parking of vehicles in a parking lot according to an embodiment of the present invention is provided. DETAILED DESCRIPTION
[0015] The specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is obvious to those of ordinary skill in the art that these specific details do not have to be used to implement the present invention. In other examples, in order to avoid confusing the present invention, known circuits, materials or methods are not specifically described.
[0016] Throughout the specification, reference to "one embodiment", "embodiment", "one example" or "example" means that a particular feature, structure or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment", "in an embodiment", "one example" or "example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. In addition, specific features, structures or characteristics can be combined in one or more embodiments or examples in any appropriate combination and / or sub-combination. In addition, it should be understood by those of ordinary skill in the art that the diagrams provided herein are for illustrative purposes, and the diagrams are not necessarily drawn to scale. It should be understood that when an "element" is said to be "connected to" or "connected" to another element, it can be directly connected or connected to another element or there can be an intermediate element. On the contrary, when an element is said to be "directly connected to" or "directly connected to" another element, there is no intermediate element. The same reference numerals indicate the same element. The term "and / or" used herein includes any and all combinations of one or more related listed items.
[0017] Figure 1 A schematic diagram of an autonomous parking system 100 according to an embodiment of the present invention is given. The autonomous parking system 100 includes a field-side device and an autonomous parking control device, wherein the field-side device transmits data information required for the vehicle to perform autonomous parking. Figure 1In the illustrated embodiment, the field-side device is a background server SE. The autonomous parking control device is installed on the vehicle, receives data information from the field-side device by wireless communication, and generates a vehicle execution instruction according to the data information to control the vehicle to perform the corresponding function to realize the autonomous parking of the vehicle. In one embodiment, the field-side device and the autonomous parking control device transmit data by dedicated short-range communication, such as DSRC (Dedicated Short-Range Communications, dedicated short-range communication on vehicle), LTE-V (Long-term Evolution Technology-Vehicle Communication), LTE-U (Long-term Evolution Technology on Unlicensed Spectrum), LTE-M (Long-term Evolution Technology for Urban Rail Transit), EUHT (Enhanced Ultra High Throughput), digital radio communication and / or active RFID (Radio Frequency Identification), etc. In one embodiment, the data information includes parking lot map information, parking lot empty space information, parking lot real-time environment information and / or vehicle position or posture information; in another embodiment, the data information also includes instructions for controlling the speed, acceleration, steering angle, lights and / or horns of the vehicle at the corresponding time. In one embodiment, the autonomous parking control device comprises a communication box CB pre-installed inside the vehicle, and a roof box RB acquired in the vehicle delivery area and placed at a designated position of the vehicle body after the vehicle enters the autonomous parking lot.
[0018] In one embodiment, the autonomous parking lot system 100 further includes a positioning base station group, the positioning base station group includes N positioning base stations BS, wherein N is an integer greater than or equal to 3, and the N positioning base stations BS are set up in the autonomous parking lot site, and are used to send and receive positioning signals with the positioning tag Tag installed on the vehicle, so as to obtain high-precision location information of the vehicle. In one embodiment, the positioning tag Tag is installed in the roof box RB of the autonomous parking control device. When the vehicle starts to park autonomously, the positioning tag Tag interacts with the background server SE for the positioning tag ID and / or authentication information, so as to start the positioning of the positioning tag Tag. In one embodiment, the authentication information includes whether the positioning tag Tag belongs to the autonomous parking lot system 100.
[0019] In one embodiment, the autonomous parking lot system 100 further includes an environment detection component. Figure 1In the embodiment shown, the environment detection components are multiple camera devices Cam installed in the autonomous parking lot, which obtain real-time image information in the parking lot and transmit the image information to the backend server SE, which integrates and calculates the parking lot map information, parking lot vacant space information and parking lot real-time environment information, and transmits the above data information to the autonomous parking control device placed on the vehicle. The parking lot real-time environment information includes the location information of other vehicles, pedestrians and obstacles in the parking lot.
[0020] In one embodiment, the positioning tag Tag placed on the vehicle is an ultra-wideband positioning tag, and the positioning tag Tag transmits an ultra-wideband positioning signal to the positioning base station BS, and the positioning base station BS receives the ultra-wideband positioning signal and records the time information when the positioning signal reaches itself. In another embodiment, the positioning base station BS transmits an ultra-wideband positioning signal, and the positioning tag Tag receives the ultra-wideband positioning signal and records the time information when the positioning signal reaches itself. The autonomous parking lot system 100 obtains the position of the positioning tag Tag using the sending time of the positioning signal and / or the receiving time of the positioning signal and the position of the positioning base station BS. In one embodiment, the autonomous parking lot system 100 uses the TDOA (Time Difference of Arrival) or TOA (Time of Arrival) positioning algorithm to solve the position information of the positioning tag Tag. Since the ultra-wideband signal has an ultra-high time resolution, a higher positioning accuracy can be achieved.
[0021] In one embodiment, the backend server SE further includes a positioning calculation unit, which is used to calculate the position information of the positioning tag Tag. The backend server SE transmits the obtained position information to the autonomous parking control device in real time, so that the autonomous parking control device can accurately obtain the position information of the vehicle according to the position information of the positioning tag Tag, the position relationship between the positioning tag Tag and the vehicle, and the vehicle size of the vehicle itself. In one embodiment, the positioning tags Tag placed on different vehicles have different identification information. The backend server SE broadcasts the position information of the positioning tags Tag with identification information to each vehicle. The autonomous parking control device can obtain the position information of its own positioning tag Tag according to the identification information, and can also obtain the position information of other vehicles. The autonomous parking control device plans the autonomous parking route according to the map of the parking lot, the target empty parking space, the real-time environment information of the parking lot, and / or the position or posture information of the vehicle obtained from the backend server SE, and controls the vehicle to enter the target empty parking space according to the planned autonomous parking route according to the position information and / or posture information of the vehicle. In one embodiment, the posture information of the vehicle includes the turning angle information of the vehicle in a certain direction or route in the parking lot map. In addition, the autonomous parking control device can also control the vehicle based on the position information of other vehicles to avoid collision with other vehicles.
[0022] In one embodiment, the autonomous parking route is planned by a background server SE, and the background server SE transmits the planned autonomous parking route to an autonomous parking control device, and the autonomous parking control device decodes data representing the autonomous vehicle route and generates a vehicle execution instruction that can be recognized by the vehicle.
[0023] Figure 2The installation diagram of an autonomous parking control device according to an embodiment of the present invention is given. The autonomous parking control device includes a communication box CB pre-installed inside the vehicle, and a roof box RB that is obtained and placed at a designated position of the vehicle body in the vehicle delivery area after the vehicle enters the autonomous parking parking lot. The roof box RB is used to receive the parking lot map, target empty parking space, real-time parking lot environment information, and location information of the positioning tag Tag from the background server SE to calculate and plan the autonomous parking route. The roof box RB also detects the motion state of the vehicle, that is, detects the speed, angle, angular velocity, acceleration and other information of the vehicle to correct the location information of the vehicle. The roof box RB generates a vehicle control instruction based on the planned autonomous parking route and the real-time location information of the vehicle, and transmits the vehicle control instruction to the communication box CB installed inside the vehicle, the communication box CB is connected to the vehicle wired communication line, and transmits the vehicle control instruction to the corresponding function execution unit of the vehicle through the vehicle wired communication line to control the vehicle to perform the corresponding function. In one embodiment, the communication box CB converts the vehicle control instruction into a control instruction that can be executed by the vehicle. In one embodiment, the corresponding functions executed by the vehicle include the vehicle's travel, braking and steering, etc. In another embodiment, the vehicle execution instruction includes an instruction to control the vehicle's speed, acceleration, steering angle, lights and / or horns at a corresponding time, for example, the vehicle moves forward at a speed of 5 km / h, reverses at a speed of 3 km / h, and the steering angle is kept at 5° to the left or the steering angle changes at a rate of 1° per second until it is 15° to the left and maintained. In another embodiment, the vehicle execution instruction includes an instruction that can be recognized and executed by the vehicle's underlying function execution unit to control the vehicle's speed, acceleration, and steering angle at a corresponding time. In one embodiment, the vehicle's underlying function execution unit includes an engine system, a rotation system, a transmission system, a braking system, etc. The instructions that can be recognized and executed by the vehicle's underlying function execution unit include engine speed, engine torque, engine crankshaft angle, brake pump pressure, and steering wheel current control signals. In another embodiment, the vehicle's wired communication line includes a wired communication line form such as a CAN bus, a LIN bus, a FlexRay bus, a MOST bus, or an in-vehicle Ethernet.
[0024] In one embodiment, the vehicle is provided with sensors for sensing the vehicle's surrounding environment information, including radar sensors, ultrasonic sensors, optical sensors, etc. The sensors are connected to the vehicle's wired communication lines. The vehicle's surrounding environment information, such as obstacle information, acquired by the sensors is transmitted to the communication box CB through the vehicle's wired communication lines. The communication box CB transmits the received vehicle's surrounding environment information to the roof box RB. The roof box RB integrates the vehicle's surrounding environment information into the planning of the autonomous parking route and the generation of vehicle control instructions. For example, when it is sensed that there is an obstacle in the area near the vehicle's travel, the vehicle is controlled to brake or detour. In another embodiment, the communication box CB pre-stores the vehicle's model information, including the vehicle body size, and the specific position of the communication box CB in the vehicle, that is, the position relationship of the positioning tag Tag placed on the vehicle, and transmits the above-mentioned model information and the position relationship of the positioning tag Tag placed on the vehicle to the roof box RB, so that the autonomous parking control device can accurately obtain the vehicle's position information based on the position information of the positioning tag Tag, the position relationship of the positioning tag Tag placed on the vehicle, and the vehicle size of the vehicle itself. During the transmission process of vehicle control instructions, vehicle surrounding environment information, vehicle model information and the position relationship of the positioning tag Ta placed on the vehicle, the roof box RB and the communication box CB need to establish an effective communication connection.
[0025] In another embodiment, the autonomous parking control device further includes another auxiliary positioning tag Tag2. Figure 3 As shown, the roof box RB and the communication box CB are placed on one side of the vehicle, and the auxiliary positioning tag Tag2 is placed on the other side of the vehicle, even if the positioning tag Tag and the auxiliary positioning tag Tag2 have a certain lateral baseline. In one embodiment, the auxiliary positioning tag Tag2 is connected to the communication box CB by wire, and the communication box CB controls the opening and closing of the auxiliary positioning tag Tag2 and supplies power to it. The auxiliary positioning tag Tag2 adopts the same working mode as the positioning tag Tag, and the roof box RB simultaneously obtains the position information of the positioning tag Tag and the auxiliary positioning tag Tag2. Since the positioning tag Tag and the auxiliary positioning tag Tag2 have a certain lateral baseline, the roof box RB can obtain the steering information of the vehicle and apply the steering information of the vehicle to the control of the vehicle, so that the vehicle can drive into the target empty parking space according to the planned autonomous parking route.
[0026] Figure 4 A flow chart of a method for controlling autonomous parking of vehicles in a parking lot according to an embodiment of the present invention is provided. The method comprises the following steps:
[0027] Step 401: using a terminal located in a parking lot to transmit data information required for a vehicle to perform autonomous parking;
[0028] Step 402: Utilize the autonomous parking control device located at the vehicle end to receive data information from the field end device through wireless communication, and generate a vehicle execution instruction according to the data information to control the vehicle to execute a corresponding function to achieve autonomous parking of the vehicle.
[0029] In one embodiment, the data information also includes real-time parking environment information detected by a camera device located in the parking lot. The real-time parking environment information includes location information of other vehicles, pedestrians, obstacles, etc. in the parking lot.
[0030] In another embodiment, the method further includes acquiring the vehicle location information by sending and receiving positioning signals between the positioning tag Tag and a positioning base station group including a plurality of positioning base stations BS. In one embodiment, the positioning tag Tag is an ultra-wideband positioning tag, and the positioning tag Tag transmits an ultra-wideband positioning signal to the positioning base station BS, and the positioning base station BS receives the ultra-wideband positioning signal and records the time information when the positioning signal arrives at itself. In another embodiment, the positioning base station BS transmits an ultra-wideband positioning signal, and the positioning tag Tag receives the ultra-wideband positioning signal and records the time information when the positioning signal arrives at itself. In one embodiment, the position of the positioning tag Tag is obtained according to the sending time of the positioning signal and / or the receiving time of the positioning signal and the position of the positioning base station BS, and the position information of the positioning tag Tag is solved using the TDOA (Time Difference of Arrival) or TOA (Time of Arrival) positioning algorithm.
[0031] In another embodiment, data information is transmitted from the field-side device to the autonomous parking control device through a dedicated short-range communication method, such as DSRC (Dedicated Short-Range Communications), LTE-V (Long Term Evolution Technology-Vehicle Communications), LTE-U (Long Term Evolution Technology on Unlicensed Spectrum), LTE-M (Long Term Evolution Technology for Urban Rail Transit), EUHT (Enhanced Ultra High Throughput), digital radio communications and / or active RFID (Radio Frequency Identification), etc.
[0032] The present invention provides an autonomous parking lot system and a method for controlling the autonomous parking of vehicles in the parking lot. By building a high-precision positioning system in the parking lot, the vehicle position information can be accurately and timely obtained, and the vehicle running trajectory can be accurately adjusted to reduce the risk of vehicle collision. Secondly, in the present invention, a high-cost roof box with a high-speed computing unit is placed outside the vehicle, that is, the roof box is temporarily placed on the vehicle when the vehicle enters the parking lot for autonomous parking, so that the roof box belongs to the parking lot and is recycled, and a low-cost communication box is installed inside the vehicle, which can reduce the modification cost and is easy to promote and popularize. In addition, through the reliable and stable communication connection between the roof box and the communication box, the vehicle can be accurately controlled to achieve automatic parking.
[0033] As mentioned above, although the preferred embodiments of the present invention have been illustrated and described, many changes may be made without departing from the spirit and scope of the present invention. Thus, the scope of the present invention is not limited by the disclosure of the preferred embodiments. Instead, the present invention should be determined entirely with reference to the claims that follow.
Claims
1. An autonomous parking lot system, comprising: The field device is installed in the parking lot and transmits the data information required for the vehicle to park autonomously; as well as An autonomous parking control device is installed on the vehicle, receives data information from the field device through wireless communication, and generates a vehicle execution instruction according to the data information to control the vehicle to perform corresponding functions to achieve autonomous parking of the vehicle; Wherein, the autonomous parking control device comprises a communication box pre-installed inside the vehicle, and a roof box which is obtained and placed at a designated position on the vehicle body in the vehicle delivery area after the vehicle enters the autonomous parking lot; The roof box is used to receive data information from the field device to calculate and plan the autonomous parking route. The roof box also detects the movement state of the vehicle to correct the vehicle's position information. The roof box generates a vehicle control instruction based on the planned autonomous parking route and the vehicle's real-time position information, and transmits the vehicle control instruction to a communication box installed inside the vehicle; The communication box is connected to the vehicle wired communication line, and the communication box converts the vehicle control instruction into a vehicle execution instruction that can be executed by the vehicle, and transmits the vehicle execution instruction to the corresponding function execution unit of the vehicle through the vehicle wired communication line to control the vehicle to execute the corresponding function; The vehicle execution instructions include instructions that can be recognized and executed by the vehicle's underlying function execution unit to control the vehicle's speed, acceleration, and steering angle at the corresponding time. The vehicle's underlying function execution unit includes an engine system, a rotation system, a transmission system, and a braking system. The instructions that can be recognized and executed by the vehicle's underlying function execution unit include engine speed, engine torque, engine crankshaft angle, brake pump pressure, and steering wheel current control signals.
2. The autonomous parking lot system according to claim 1, characterized in that: The data information includes parking lot map information, parking lot vacant space information, parking lot real-time environment information and / or vehicle position or posture information.
3. The autonomous parking lot system as described in claim 2 further includes a camera device installed in the parking lot for detecting real-time parking lot environment information.
4. The autonomous parking lot system according to claim 2, wherein: Parking lot real-time environment information includes location information of other vehicles, pedestrians and / or objects.
5. The autonomous parking lot system according to claim 2, characterized in that: Also includes: A positioning tag and a positioning base station group including a plurality of positioning base stations, wherein the positioning tag is installed on the vehicle, the positioning base station is installed in the parking lot, and positioning signals are sent and received between the positioning tag and each positioning base station; as well as The positioning calculation unit obtains the position of the positioning tag according to the sending time of the positioning signal, the receiving time of the positioning signal and the position of the positioning base station, and obtains the vehicle position information according to the position of the positioning tag.
6. The autonomous parking lot system according to claim 5, characterized in that: The positioning calculation unit obtains the vehicle position information based on the position information of the positioning tag, the position where the positioning tag is placed on the vehicle, and the size of the vehicle itself.
7. The autonomous parking lot system according to claim 5, wherein: The field-side device also exchanges positioning tag identification information and / or authentication information with the positioning tag, thereby turning on and / or off positioning of the positioning tag.
8. The autonomous parking lot system as described in claim 5 further includes an auxiliary positioning tag, which is installed on the vehicle and is located at a different position on the vehicle from the positioning tag. The auxiliary positioning tag sends and receives auxiliary positioning signals with each positioning base station, and the positioning calculation unit obtains the position of the auxiliary positioning tag according to the sending time of the auxiliary positioning signal, the receiving time of the auxiliary positioning signal and the position of the positioning base station to determine the vehicle position information and / or the vehicle direction information.
9. The autonomous parking lot system according to claim 1, wherein: The field device and the autonomous parking control device transmit data via a dedicated short-range communication method, a cellular mobile communication network, LTE-U, LTE-M, LTE-V, EUHT, digital radio communication and / or active RFID.
10. The autonomous parking lot system according to claim 1, wherein: The motion state of the vehicle includes the speed, angle, angular velocity and / or acceleration of the vehicle.
11. The autonomous parking lot system according to claim 1, wherein: Vehicle wired communication lines include CAN bus, LIN bus, FlexRay bus, MOST bus and / or vehicle Ethernet.
12. The autonomous parking lot system of claim 1, wherein: The on-board sensors on the vehicle detect obstacle information and transmit it to the autonomous parking control device, and the autonomous parking control device generates vehicle execution instructions based on the obstacle information.